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parallel-driven robot

Robotica (1)

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Some comparisons of serial-driven and parallel-driven manipulators
D. McCloy
Journal:

Robotica / Volume 8 / Issue 4 / October 1990

Published online by Cambridge University Press:

09 March 2009, pp. 355-362
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A two-dimensional serial-driven manipulator is compared with two different parallel-driven manipulators, using workspace, power requirements and stiffness as criteria. The parallel-driven devices are based on the planar five-bar linkage; one has four revolute joints and one prismatic joint; the other has five revolute joints. Parallel operation is shown to offer advantages.